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      "policy.json": "d53fc73223c7c729cc5e7030b6ca745b2a3cc3566bc34034e171e613ba97ca19",
      "validate_inference.py": "6bb59bf4efc55b5592accf6ffe24f9f3b9136deb1001582d392b91bb3ecbe34d",
      "validate_observations.py": "86c951c8756a7a1b0bdb7ba8ef17ab8d070210883d0235fc4c5fba801a38ae32",
      "validate_parallel.py": "f8a4ad6485c86c995b90820aa03d7bd24c4a7dffa1051a6bc8928d1b3e04d248",
      "restricted.py": "8f8fdcc4dc41813cf5d8f8c55e4b219310145f74a540457b52c41843a49bd831",
      "parallel.py": "24f5d3b68572d209c8570f8e346ad63b158aac17a86950aebf49c397d2d234fc"
    },
    "prior_native_parity_sha256": {
      "validation/deployment-parity.json": "afe85de4d063d1a34e76e6792945429d1ddc42d166c5e9c4665852ec28e186b7"
    },
    "handling": "Original TWIST2 1017-20k network with the pinned sim2real deployment: 50 Hz, first-observation history fill, wrist Kp 40/Kd 5, and unclipped network actions. The author sim2sim route instead uses 100 Hz, zero history, wrist Kp 4/Kd 0.2 and action clipping at +/-10. Benchmark reference preparation, reset, 2 ms physics and scoring stay in Core.",
    "actual_position_integration": "No explicit integration or odometry in the inspected deployed adapter source; blocked paths are listed separately.",
    "special_handling": "FK of allowed state at fixed synthetic origin (0,0,0); never actual measured origin.",
    "repository": "https://github.com/MotionChallenge-Project/MotionChallenge-twist2",
    "dependency_test": {
      "path": "validation/observation-access.json",
      "sha256": "401129f525b1a15d5fbe421e1748c1a480154791b9cd99592557b0ca11e8801f",
      "code": "validate_observations.py",
      "cases": 160,
      "resets": 4
    },
    "execution_validation": {
      "path": "validation/concurrency.json",
      "sha256": "f465aacb45ee9cce7a623f0b560cd7aa1a1c7c479b76d36eac6df4154cdc6b7e",
      "scope": "Scalar versus threaded inference on 40 LAFAN initial states and advancing references, reversed slot order and partial resets. Not a full rollout."
    }
  },
  "observation_dependency_report": {
    "status": "passed",
    "cases": 160,
    "resets": 4,
    "tolerance_abs": 2e-05,
    "checkpoint_sha256": "2d1fb3a31e4e967f70ecfefc3ad1e7b2ac491677068b89f60b565a94e7735061",
    "network_calls": 160,
    "max_abs_error": {
      "observation": 0.0,
      "network_output": 0.0,
      "motor_command": 0.0
    },
    "checks": [
      "160 matched state sequences / 4 resets",
      "large actual translation perturbations",
      "reference windows preserved including endpoints",
      "all captured ONNX inputs and outputs",
      "all PD command fields",
      "forbidden-field counterfactual before transport"
    ],
    "limits": "Finite numerical regression plus source audit; not a proof against malicious code or implicit neural odometry."
  },
  "reproduction": {
    "adapter_commit": "b593f7c31a635769ec03d6e160b126c3404b7e9c",
    "core_commit": "b08ef12c6898ee866a81bdce055099ee2d0cee4b",
    "adapter_repository": "https://github.com/MotionChallenge-Project/MotionChallenge-twist2",
    "adapter_code_url": "https://github.com/MotionChallenge-Project/MotionChallenge-twist2/tree/b593f7c31a635769ec03d6e160b126c3404b7e9c",
    "core_code_url": "https://github.com/MotionChallenge-Project/MotionChallenge-Core/tree/b08ef12c6898ee866a81bdce055099ee2d0cee4b",
    "checkpoint_sha256": "2d1fb3a31e4e967f70ecfefc3ad1e7b2ac491677068b89f60b565a94e7735061",
    "commands": [
      "git clone --recurse-submodules https://github.com/MotionChallenge-Project/MotionChallenge-twist2.git",
      "cd MotionChallenge-twist2",
      "git checkout b593f7c31a635769ec03d6e160b126c3404b7e9c",
      "git submodule update --init --recursive",
      "uv sync --frozen",
      "uv run evaluate.py"
    ]
  }
}
